diff --git a/engineering_tools/monitor-ros-cpu.py b/engineering_tools/monitor-ros-cpu.py
new file mode 100644
index 0000000000..89f32e745d
--- /dev/null
+++ b/engineering_tools/monitor-ros-cpu.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+
+import psutil
+import subprocess
+import time
+import csv
+import os
+import argparse
+from datetime import datetime
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(description="Monitor CPU usage of ROS2 nodes")
+    parser.add_argument(
+        "--output-dir",
+        "-o",
+        default="carma-cpu-usage-logs",
+        help="Directory to store output files (default: carma-cpu-usage-logs)",
+    )
+    return parser.parse_args()
+
+
+def setup_logging_directory(output_dir):
+    if not os.path.exists(output_dir):
+        os.makedirs(output_dir)
+
+    timestamp = datetime.now().strftime("%Y_%m_%d-%H_%M_%S")
+    filename = f"cpu_usage_ros2_nodes_{timestamp}.csv"
+
+    return os.path.join(output_dir, filename)
+
+
+def main():
+    args = parse_args()
+    output_file = setup_logging_directory(args.output_dir)
+
+    with open(output_file, mode="a") as file:
+        writer = csv.writer(file)
+        writer.writerow(
+            [
+                "Timestamp",
+                "PID",
+                "Process Name",
+                "CPU (%)",
+                "Memory (%)",
+                "Command Line",
+                "Total CPU (%)",
+            ]
+        )
+        print(f"Starting to monitor the CPU usage data and saving to: {output_file}")
+
+        while True:
+            timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S.%f")[:-3]
+            total_cpu_percent = psutil.cpu_percent(interval=None)
+
+            for proc in psutil.process_iter(
+                ["pid", "name", "cpu_percent", "memory_percent", "cmdline"]
+            ):
+                try:
+                    cmdline = " ".join(proc.info["cmdline"])
+                    if (
+                        "ros" in proc.info["name"]
+                        or "node" in proc.info["name"]
+                        or "node" in cmdline
+                        or "python3" in proc.info["name"]
+                        or "ros" in cmdline
+                    ) and not ("code" in proc.info["name"]):
+                        pid = proc.info["pid"]
+                        name = proc.info["name"]
+                        cpu_percent = proc.info["cpu_percent"]
+                        memory_percent = proc.info["memory_percent"]
+
+                        writer.writerow(
+                            [
+                                timestamp,
+                                pid,
+                                name,
+                                cpu_percent,
+                                memory_percent,
+                                cmdline,
+                                total_cpu_percent,
+                            ]
+                        )
+
+                except (
+                    psutil.NoSuchProcess,
+                    psutil.AccessDenied,
+                    psutil.ZombieProcess,
+                ):
+                    continue
+
+            time.sleep(1)
+
+
+if __name__ == "__main__":
+    main()